Handheld electromechanical surgical instruments with improved motor control arrangements for positioning components of an adapter coupled thereto

ABSTRACT

A handheld electromechanical surgical device configured to be operably coupled to a surgical accessory. The device includes a handle assembly that operably supports a plurality of electrically powered motors that are controlled by a processor within the handle assembly. The handle assembly is encased in an outer shell housing. A barrier plate assembly is interposed between the handle assembly the outer shell housing and supports a shaft coupling arrangement for coupling shafts of the powered motors to corresponding portions of the surgical accessory located outside of the outer shell. Sensing arrangements are supported within the handle assembly for monitoring rotation of each of motor drive shaft and communicating with the processor to apply appropriate control signals to the motors.

BACKGROUND

The present invention relates to surgical instruments and, in various arrangements, to surgical stapling and cutting instruments and staple cartridges for use therewith that are designed to staple and cut tissue.

BRIEF DESCRIPTION OF THE DRAWINGS

Various features of the embodiments described herein, together with advantages thereof, may be understood in accordance with the following description taken in conjunction with the accompanying drawings as follows:

FIG. 1 is a perspective view of an electromechanical surgical system;

FIG. 2 is a perspective view of a distal end of an electromechanical surgical instrument portion of the surgical system of FIG. 1;

FIG. 3 is an exploded assembly view of an outer shell feature and the electromechanical surgical instrument of FIG. 2;

FIG. 4 is a rear perspective view of a portion of the electromechanical surgical instrument of FIG. 2;

FIG. 5 is a partial exploded assembly view of a portion of an adapter and the electromechanical surgical instrument of the surgical system of FIG. 1;

FIG. 6 is an exploded assembly view of a portion of the adapter of FIG. 5;

FIG. 7 is a cross-sectional perspective view of a portion of an articulation assembly of an adapter;

FIG. 8 is a perspective view of the articulation assembly of FIG. 7;

FIG. 9 is another perspective view of the articulation assembly of FIG. 8;

FIG. 10 is an exploded assembly view of a loading unit employed in the electromechanical surgical system of FIG. 1;

FIG. 11 is a perspective view of an alternative adapter embodiment;

FIG. 12 is a side elevational view of a portion of a loading unit of the adapter of FIG. 11 with the jaws thereof in an open position;

FIG. 13 is another side elevational view of a portion of the loading unit of FIG. 11 with portions thereof shown in cross-section and the jaws thereof in a closed position;

FIG. 14 is a bottom view of a portion of the loading unit of FIG. 13 with portions thereof shown in cross-section;

FIG. 15 is a perspective view of a portion of the loading unit of FIG. 14 with a portion of the outer tube shown in phantom lines;

FIG. 16 is a cross-sectional view of a proximal portion of another adapter employing various seal arrangements therein;

FIG. 17 is an end cross-sectional view of a portion of the adapter of FIG. 16;

FIG. 18 is a side elevational view of another adapter;

FIG. 19 is a cross-sectional view of a portion of the adapter of FIG. 18;

FIG. 20 is a rear perspective view of portions of another adapter;

FIG. 21 is a cross-sectional view of another adapter;

FIG. 22 is an exploded assembly perspective view of a motor control system of an electromechanical surgical device for controlling the motors thereof;

FIG. 23 is a perspective view of another motor control system of an electromechanical surgical device for controlling the motors thereof;

FIG. 24 is an exploded side view of the motor control system of FIG. 23; and

FIG. 25 is a partial end view of a portion of the motor control system associated with one of the motors of an electromechanical surgical instrument.

Corresponding reference characters indicate corresponding parts throughout the several views. The exemplifications set out herein illustrate various embodiments of the invention, in one form, and such exemplifications are not to be construed as limiting the scope of the invention in any manner.

DETAILED DESCRIPTION

Applicant of the present application owns the following U.S. Patent Applications that were filed on Dec. 15, 2017 and which are each herein incorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 15/843,485, entitled SEALED         ADAPTERS FOR USE WITH ELECTROMECHANICAL SURGICAL INSTRUMENTS,         now U.S. Patent Application Publication No. 2019/0183492;     -   U.S. patent application Ser. No. 15/843,518, entitled END         EFFECTORS WITH POSITIVE JAW OPENING FEATURES FOR USE WITH         ADAPTERS FOR ELECTROMECHANICAL SURGICAL INSTRUMENTS, now U.S.         Patent Application Publication No. 2019/0183496;     -   U.S. patent application Ser. No. 15/843,535, entitled SURGICAL         END EFFECTORS WITH CLAMPING ASSEMBLIES CONFIGURED TO INCREASE         JAW APERTURE RANGES, now U.S. Patent Application Publication No.         2019/0183498;     -   U.S. patent application Ser. No. 15/843,558, entitled SURGICAL         END EFFECTORS WITH PIVOTAL JAWS CONFIGURED TO TOUCH AT THEIR         RESPECTIVE DISTAL ENDS WHEN FULLY CLOSED, now U.S. Patent         Application Publication No. 2019/0183499;     -   U.S. patent application Ser. No. 15/843,528, entitled SURGICAL         END EFFECTORS WITH JAW STIFFENER ARRANGEMENTS CONFIGURED TO         PERMIT MONITORING OF FIRING MEMBER, now U.S. Patent Application         Publication No. 2019/0183497;     -   U.S. patent application Ser. No. 15/843,567, entitled ADAPTERS         WITH END EFFECTOR POSITION SENSING AND CONTROL ARRANGEMENTS FOR         USE IN CONNECTION WITH ELECTROMECHANICAL SURGICAL INSTRUMENTS,         now U.S. Patent Application Publication No. 2019/0183500;     -   U.S. patent application Ser. No. 15/843,556, entitled DYNAMIC         CLAMPING ASSEMBLIES WITH IMPROVED WEAR CHARACTERISTICS FOR USE         IN CONNECTION WITH ELECTROMECHANICAL SURGICAL INSTRUMENTS, now         U.S. Patent Application Publication No. 2019/0183490;     -   U.S. patent application Ser. No. 15/843,514, entitled ADAPTERS         WITH FIRING STROKE SENSING ARRANGEMENTS FOR USE IN CONNECTION         WITH ELECTROMECHANICAL SURGICAL INSTRUMENTS, now U.S. Patent         Application Publication No. 2019/0183495;     -   U.S. patent application Ser. No. 15/843,501, entitled ADAPTERS         WITH CONTROL SYSTEMS FOR CONTROLLING MULTIPLE MOTORS OF AN         ELECTROMECHANICAL SURGICAL INSTRUMENT, now U.S. Patent         Application Publication No. 2019-0183493;     -   U.S. patent application Ser. No. 15/843,682, entitled SYSTEMS         AND METHODS OF CONTROLLING A CLAMPING MEMBER FIRING RATE OF A         SURGICAL INSTRUMENT, now U.S. Patent Application Publication No.         2019/0183501;     -   U.S. patent application Ser. No. 15/843,689, entitled SYSTEMS         AND METHODS OF CONTROLLING A CLAMPING MEMBER, now U.S. Patent         Application Publication No. 2019/0183502;     -   U.S. patent application Ser. No. 15/843,704, entitled METHODS OF         OPERATING SURGICAL END EFFECTORS, now U.S. Patent Application         Publication No. 2019/0183503.

Numerous specific details are set forth to provide a thorough understanding of the overall structure, function, manufacture, and use of the embodiments as described in the specification and illustrated in the accompanying drawings. Well-known operations, components, and elements have not been described in detail so as not to obscure the embodiments described in the specification. The reader will understand that the embodiments described and illustrated herein are non-limiting examples, and thus it can be appreciated that the specific structural and functional details disclosed herein may be representative and illustrative. Variations and changes thereto may be made without departing from the scope of the claims.

The terms “comprise” (and any form of comprise, such as “comprises” and “comprising”), “have” (and any form of have, such as “has” and “having”), “include” (and any form of include, such as “includes” and “including”) and “contain” (and any form of contain, such as “contains” and “containing”) are open-ended linking verbs. As a result, a surgical system, device, or apparatus that “comprises,” “has,” “includes” or “contains” one or more elements possesses those one or more elements, but is not limited to possessing only those one or more elements. Likewise, an element of a system, device, or apparatus that “comprises,” “has,” “includes” or “contains” one or more features possesses those one or more features, but is not limited to possessing only those one or more features.

The terms “proximal” and “distal” are used herein with reference to a clinician manipulating the handle portion of the surgical instrument. The term “proximal” refers to the portion closest to the clinician and the term “distal” refers to the portion located away from the clinician. It will be further appreciated that, for convenience and clarity, spatial terms such as “vertical”, “horizontal”, “up”, and “down” may be used herein with respect to the drawings. However, surgical instruments are used in many orientations and positions, and these terms are not intended to be limiting and/or absolute.

Various exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. However, the reader will readily appreciate that the various methods and devices disclosed herein can be used in numerous surgical procedures and applications including, for example, in connection with open surgical procedures. As the present Detailed Description proceeds, the reader will further appreciate that the various instruments disclosed herein can be inserted into a body in any way, such as through a natural orifice, through an incision or puncture hole formed in tissue, etc. The working portions or end effector portions of the instruments can be inserted directly into a patient's body or can be inserted through an access device that has a working channel through which the end effector and elongate shaft of a surgical instrument can be advanced.

A surgical stapling system can comprise a shaft and an end effector extending from the shaft. The end effector comprises a first jaw and a second jaw. The first jaw comprises a staple cartridge. The staple cartridge is insertable into and removable from the first jaw; however, other embodiments are envisioned in which a staple cartridge is not removable from, or at least readily replaceable from, the first jaw. The second jaw comprises an anvil configured to deform staples ejected from the staple cartridge. The second jaw is pivotable relative to the first jaw about a closure axis; however, other embodiments are envisioned in which the first jaw is pivotable relative to the second jaw. The surgical stapling system further comprises an articulation joint configured to permit the end effector to be rotated, or articulated, relative to the shaft. The end effector is rotatable about an articulation axis extending through the articulation joint. Other embodiments are envisioned which do not include an articulation joint.

The staple cartridge comprises a cartridge body. The cartridge body includes a proximal end, a distal end, and a deck extending between the proximal end and the distal end. In use, the staple cartridge is positioned on a first side of the tissue to be stapled and the anvil is positioned on a second side of the tissue. The anvil is moved toward the staple cartridge to compress and clamp the tissue against the deck. Thereafter, staples removably stored in the cartridge body can be deployed into the tissue. The cartridge body includes staple cavities defined therein wherein staples are removably stored in the staple cavities. The staple cavities are arranged in six longitudinal rows. Three rows of staple cavities are positioned on a first side of a longitudinal slot and three rows of staple cavities are positioned on a second side of the longitudinal slot. Other arrangements of staple cavities and staples may be possible.

The staples are supported by staple drivers in the cartridge body. The drivers are movable between a first, or unfired position, and a second, or fired, position to eject the staples from the staple cavities. The drivers are retained in the cartridge body by a retainer which extends around the bottom of the cartridge body and includes resilient members configured to grip the cartridge body and hold the retainer to the cartridge body. The drivers are movable between their unfired positions and their fired positions by a sled. The sled is movable between a proximal position adjacent the proximal end and a distal position adjacent the distal end. The sled comprises a plurality of ramped surfaces configured to slide under the drivers and lift the drivers, and the staples supported thereon, toward the anvil.

Further to the above, the sled is moved distally by a firing member. The firing member is configured to contact the sled and push the sled toward the distal end. The longitudinal slot defined in the cartridge body is configured to receive the firing member. The anvil also includes a slot configured to receive the firing member. The firing member further comprises a first cam which engages the first jaw and a second cam which engages the second jaw. As the firing member is advanced distally, the first cam and the second cam can control the distance, or tissue gap, between the deck of the staple cartridge and the anvil. The firing member also comprises a knife configured to incise the tissue captured intermediate the staple cartridge and the anvil. It is desirable for the knife to be positioned at least partially proximal to the ramped surfaces such that the staples are ejected ahead of the knife.

FIG. 1 depicts a motor-driven (electromechanical) surgical system 1 that may be used to perform a variety of different surgical procedures. As can be seen in that Figure, one example of the surgical system 1 includes a powered handheld electromechanical surgical instrument 100 that is configured for selective attachment thereto of a plurality of different surgical tool implements (referred to herein as “adapters”) that are each configured for actuation and manipulation by the powered handheld electromechanical surgical instrument. As illustrated in FIG. 1, the handheld surgical instrument 100 is configured for selective connection with an adapter 200, and, in turn, adapter 200 is configured for selective connection with end effectors that comprise a single use loading unit (“SULU”) or a disposable loading unit (“DLU”) or a multiple use loading unit (“MULU”). In another surgical system embodiment, various forms of adapter 200 may also be effectively employed with a tool drive assembly of a robotically controlled or automated surgical system. For example, the surgical tool assemblies disclosed herein may be employed with various robotic systems, instruments, components and methods such as, but not limited to, those disclosed in U.S. Pat. No. 9,072,535, entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, which is hereby incorporated by reference herein in its entirety.

As illustrated in FIGS. 1 and 2, surgical instrument 100 includes a power-pack 101 and an outer shell housing 10 that is configured to selectively receive and substantially encase the power-pack 101. The power pack 101 may also be referred to herein as handle assembly 101. One form of surgical instrument 100, for example, is disclosed in International Publication No. WO 2016/057225 A1, International Application No. PCT/US2015/051837, entitled HANDHELD ELECTROMECHANICAL SURGICAL SYSTEM, the entire disclosure of which is hereby incorporated by reference herein. Various features of surgical instrument 100 will not be disclosed herein beyond what is necessary to understand the various features of the inventions disclosed herein with it being understood that further details may be gleaned from reference to WO 2016/057225 A1 and other references incorporated by reference herein.

As illustrated in FIG. 3, outer shell housing 10 includes a distal half-section 10 a and a proximal half-section 10 b that is pivotably connected to distal half-section 10 a by a hinge 16 located along an upper edge of distal half-section 10 a and proximal half-section 10 b. When joined, distal and proximal half-sections 10 a, 10 b define a shell cavity 10 c therein in which the power-pack 101 is selectively situated. Each of distal and proximal half-sections 10 a, 10 b includes a respective upper shell portion 12 a, 12 b, and a respective lower shell portion 14 a, 14 b. Lower shell portions 14 a, 14 b define a snap closure feature 18 for selectively securing the lower shell portions 14 a, 14 b to one another and for maintaining shell housing 10 in a closed condition. Distal half-section 10 a of shell housing 10 defines a connecting portion 20 that is configured to accept a corresponding drive coupling assembly 210 of adapter 200 (see FIG. 5). Specifically, distal half-section 10 a of shell housing 10 has a recess that receives a portion of drive coupling assembly 210 of adapter 200 when adapter 200 is mated to surgical instrument 100.

Connecting portion 20 of distal half-section 10 a defines a pair of axially extending guide rails 21 a, 21 b that project radially inward from inner side surfaces thereof as shown in FIG. 5. Guide rails 21 a, 21 b assist in rotationally orienting adapter 200 relative to surgical instrument 100 when adapter 200 is mated to surgical instrument 100. Connecting portion 20 of distal half-section 10 a defines three apertures 22 a, 22 b, 22 c that are formed in a distally facing surface thereof and which are arranged in a common plane or line with one another. Connecting portion 20 of distal half-section 10 a also defines an elongate slot 24 also formed in the distally facing surface thereof. Connecting portion 20 of distal half-section 10 a further defines a female connecting feature 26 (see FIG. 2) formed in a surface thereof. Female connecting feature 26 selectively engages with a male connecting feature of adapter 200.

Distal half-section 10 a of shell housing 10 supports a distal facing toggle control button 30. The toggle control button 30 is capable of being actuated in a left, right, up and down direction upon application of a corresponding force thereto or a depressive force thereto. Distal half-section 10 a of shell housing 10 supports a right-side pair of control buttons 32 a, 32 b (see FIG. 3); and a left-side pair of control button 34 a, 34 b (see FIG. 2). The right-side control buttons 32 a, 32 b and the left-side control buttons 34 a, 34 b are capable of being actuated upon application of a corresponding force thereto or a depressive force thereto. Proximal half-section 10 b of shell housing 10 supports a right-side control button 36 a (see FIG. 3) and a left-side control button 36 b (see FIG. 2). Right-side control button 36 a and left-side control button 36 b are capable of being actuated upon application of a corresponding force thereto or a depressive force thereto.

Shell housing 10 includes a sterile barrier plate assembly 60 selectively supported in distal half-section 10 a. Specifically, the sterile barrier plate assembly 60 is disposed behind connecting portion 20 of distal half-section 10 a and within shell cavity 10 c of shell housing 10. The plate assembly 60 includes a plate 62 rotatably supporting three coupling shafts 64 a, 64 b, 64 c (see FIGS. 3 and 5). Each coupling shaft 64 a, 64 b, 64 c extends from opposed sides of plate 62 and has a tri-lobe transverse cross-sectional profile. Each coupling shaft 64 a, 64 b, 64 c extends through the respective apertures 22 a, 22 b, 22 c of connecting portion 20 of distal half-section 10 a when the sterile barrier plate assembly 60 is disposed within shell cavity 10 c of shell housing 10. The plate assembly 60 further includes an electrical pass-through connector 66 supported on plate 62. Pass-through connector 66 extends from opposed sides of plate 62. Pass-through connector 66 defines a plurality of contact paths each including an electrical conduit for extending an electrical connection across plate 62. When the plate assembly 60 is disposed within shell cavity 10 c of shell housing 10, distal ends of coupling shaft 64 a, 64 b, 64 c and a distal end of pass-through connector 66 are disposed or situated within connecting portion 20 of distal half-section 10 a of shell housing 10, and are configured to electrically and/or mechanically engage respective corresponding features of adapter 200.

Referring to FIGS. 3 and 4, the power-pack or the handle assembly 101 includes an inner handle housing 110 having a lower housing portion 104 and an upper housing portion 108 extending from and/or supported on lower housing portion 104. Lower housing portion 104 and upper housing portion 108 are separated into a distal half section 110 a and a proximal half-section 110 b connectable to distal half-section 110 a by a plurality of fasteners. When joined, distal and proximal half-sections 110 a, 110 b define the inner handle housing 110 having an inner housing cavity 110 c therein in which a power-pack core assembly 106 is situated. Power-pack core assembly 106 is configured to control the various operations of surgical instrument 100.

Distal half-section 110 a of inner handle housing 110 supports a distal toggle control interface 130 that is in operative registration with the distal toggle control button 30 of shell housing 10. In use, when the power-pack 101 is disposed within shell housing 10, actuation of the toggle control button 30 exerts a force on toggle control interface 130. Distal half-section 110 a of inner handle housing 110 also supports a right-side pair of control interfaces (not shown), and a left-side pair of control interfaces 132 a, 132 b. In use, when the power-pack 101 is disposed within shell housing 10, actuation of one of the right-side pair of control buttons or the left-side pair of control button of distal half-section 10 a of shell housing 10 exerts a force on a respective one of the right-side pair of control interfaces 132 a, 132 b or the left-side pair of control interfaces 132 a, 132 b of distal half-section 110 a of inner handle housing 110.

With reference to FIGS. 1-5, inner handle housing 110 provides a housing in which power-pack core assembly 106 is situated. Power-pack core assembly 106 includes a battery circuit 140, a controller circuit board 142 and a rechargeable battery 144 configured to supply power to any of the electrical components of surgical instrument 100. Controller circuit board 142 includes a motor controller circuit board 142 a, a main controller circuit board 142 b, and a first ribbon cable 142 c interconnecting motor controller circuit board 142 a and main controller circuit board 142 b. Power-pack core assembly 106 further includes a display screen 146 supported on main controller circuit board 142 b. Display screen 146 is visible through a clear or transparent window 110 d (see FIG. 3) provided in proximal half-section 110 b of inner handle housing 110. It is contemplated that at least a portion of inner handle housing 110 may be fabricated from a transparent rigid plastic or the like. It is further contemplated that shell housing 10 may either include a window formed therein (in visual registration with display screen 146 and with window 110 d of proximal half-section 110 b of inner handle housing 110, and/or shell housing 10 may be fabricated from a transparent rigid plastic or the like.

Power-pack core assembly 106 further includes a first motor 152, a second motor 154, and a third motor 156 that are supported by motor bracket 148 and are each electrically connected to controller circuit board 142 and battery 144. Motors 152, 154, 156 are disposed between motor controller circuit board 142 a and main controller circuit board 142 b. Each motor 152, 154, 156 includes a respective motor shaft 152 a, 154 a, 156 a extending therefrom. Each motor shaft 152 a, 154 a, 156 a has a tri-lobe transverse cross-sectional profile for transmitting rotative forces or torque. Each motor 152, 154, 156 is controlled by a respective motor controller. Rotation of motor shafts 152 a, 154 a, 156 a by respective motors 152, 154, 156 function to drive shafts and/or gear components of adapter 200 in order to perform the various operations of surgical instrument 100. In particular, motors 152, 154, 156 of power-pack core assembly 106 are configured to drive shafts and/or gear components of adapter 200.

As illustrated in FIGS. 1 and 5, surgical instrument 100 is configured for selective connection with adapter 200, and, in turn, adapter 200 is configured for selective connection with end effector 500. Adapter 200 includes an outer knob housing 202 and an outer tube 206 that extends from a distal end of knob housing 202. Knob housing 202 and outer tube 206 are configured and dimensioned to house the components of adapter assembly 200. Outer tube 206 is dimensioned for endoscopic insertion, in particular, that outer tube is passable through a typical trocar port, cannula or the like. Knob housing 202 is dimensioned to not enter the trocar port, cannula of the like. Knob housing 202 is configured and adapted to connect to connecting portion 20 of the outer shell housing 10 of surgical instrument 100.

Adapter 200 is configured to convert a rotation of either of first or second coupling shafts 64 a, 64 b of surgical instrument 100 into axial translation useful for operating a drive assembly 540 and an articulation link 560 of end effector 500, as illustrated in FIG. 10 and as will be described in greater detail below. As illustrated in FIG. 6, adapter 200 includes the proximal inner housing assembly 204 that rotatably supports a first rotatable proximal drive shaft 212, a second rotatable proximal drive shaft 214, and a third rotatable proximal drive shaft 216 therein. Each proximal drive shaft 212, 214, 216 functions as a rotation receiving member to receive rotational forces from respective coupling shafts 64 a, 64 b and 64 c of surgical instrument 100. In addition, the drive coupling assembly 210 of adapter 200 is also configured to rotatably support first, second and third connector sleeves 218, 220 and 222, respectively, arranged in a common plane or line with one another. Each connector sleeve 218, 220, 222 is configured to mate with respective first, second and third coupling shafts 64 a, 64 b, 64 c of surgical instrument 100, as described above. Each connector sleeves 218, 222, 220 is further configured to mate with a proximal end of respective first, second, and third proximal drive shafts 212, 214, 216 of adapter 200.

Drive coupling assembly 210 of adapter 200 also includes a first, a second, and a third biasing member 224, 226, and 228 disposed distally of respective first, second, and third connector sleeves 218, 220, 222. Each biasing members 224, 226, and 228 is disposed about respective first, second, and third rotatable proximal drive shaft 212, 214, and 216. Biasing members 224, 226, and 228 act on respective connector sleeves 218, 222, and 220 to help maintain connector sleeves 218, 222. and 220 engaged with the distal end of respective coupling shafts 64 a, 64 b, and 64 c of surgical instrument 100 when adapter 200 is connected to surgical instrument 100.

Also in the illustrated arrangement, adapter 200 includes first, second, and third drive converting assemblies 240, 250, 260, respectively, that are each disposed within inner housing assembly 204 and outer tube 206. Each drive converting assembly 240, 250, 260 is configured and adapted to transmit or convert a rotation of a first, second, and third coupling shafts 64 a, 64 b, and 64 c of surgical instrument 100 into axial translation of an articulation driver or bar 258 of adapter 200, to effectuate articulation of end effector 500; a rotation of a ring gear 266 of adapter 200, to effectuate rotation of adapter 200; or axial translation of a distal drive member 248 of adapter 200 to effectuate closing, opening, and firing of end effector 500.

Still referring to FIG. 6, first force/rotation transmitting/converting assembly 240 includes first rotatable proximal drive shaft 212, which, as described above, is rotatably supported within inner housing assembly 204. First rotatable proximal drive shaft 212 includes a non-circular or shaped proximal end portion configured for connection with first connector sleeve 218 which is connected to respective first coupling shaft 64 a of surgical instrument 100. First rotatable proximal drive shaft 212 includes a threaded distal end portion 212 b. First force/rotation transmitting/converting assembly 240 further includes a drive coupling nut 244 that threadably engages the threaded distal end portion 212 b of first rotatable proximal drive shaft 212, and which is slidably disposed within outer tube 206. Drive coupling nut 244 is slidably keyed within proximal core tube portion of outer tube 206 so as to be prevented from rotation as first rotatable proximal drive shaft 212 is rotated. In this manner, as the first rotatable proximal drive shaft 212 is rotated, drive coupling nut 244 is translated along threaded distal end portion 212 b of first rotatable proximal drive shaft 212 and, in turn, through and/or along outer tube 206.

First force/rotation transmitting/converting assembly 240 further includes a distal drive member 248 that is mechanically engaged with drive coupling nut 244, such that axial movement of drive coupling nut 244 results in a corresponding amount of axial movement of distal drive member 248. The distal end portion of distal drive member 248 supports a connection member 247 configured and dimensioned for selective engagement with an engagement member 546 of a drive assembly 540 of end effector 500 (FIG. 10). Drive coupling nut 244 and/or distal drive member 248 function as a force transmitting member to components of end effector 500. In operation, as first rotatable proximal drive shaft 212 is rotated, as a result of the rotation of first coupling shaft 64 a of surgical instrument 100, drive coupling nut 244 is translated axially along first rotatable proximal drive shaft 212. As drive coupling nut 244 is translated axially along first rotatable proximal drive shaft 212, distal drive member 248 is translated axially relative to outer tube 206. As distal drive member 248 is translated axially, with connection member 247 connected thereto and engaged with a hollow drive member 548 attached to drive assembly 540 of end effector 500 (FIG. 10), distal drive member 248 causes concomitant axial translation of drive assembly 540 of end effector 500 to effectuate a closure of a tool assembly portion 600 of the end effector 500 and a firing of various components within the tool assembly.

Still referring to FIG. 6, second drive converting assembly 250 of adapter 200 includes second proximal drive shaft 214 that is rotatably supported within inner housing assembly 204. Second rotatable proximal drive shaft 214 includes a non-circular or shaped proximal end portion configured for connection with second coupling shaft 64 c of surgical instrument 100. Second rotatable proximal drive shaft 214 further includes a threaded distal end portion 214 a configured to threadably engage an articulation bearing housing 253 of an articulation bearing assembly 252. Referring to FIGS. 6-9, the articulation bearing housing 253 supports an articulation bearing 255 that has an inner race 257 that is independently rotatable relative to an outer race 259. Articulation bearing housing 253 has a non-circular outer profile, for example tear-dropped shaped, that is slidably and non-rotatably disposed within a complementary bore (not shown) of inner housing hub 204 a. Second drive converting assembly 250 of adapter 200 further includes articulation bar 258 that has a proximal portion that is secured to inner race 257 of articulation bearing 255. A distal portion of articulation bar 258 includes a slot 258 a therein, which is configured to accept a hook 562 the articulation link 560 (FIG. 10) of end effector 500. Articulation bar 258 functions as a force transmitting member to components of end effector 500. In the illustrated arrangement and as further discussed in WO 2016/057225 A1, articulation bearing assembly 252 is both rotatable and longitudinally translatable and is configured to permit free, unimpeded rotational movement of end effector 500 when its first and second jaw members 610, 700 are in an approximated position and/or when jaw members 610, 700 are articulated.

In operation, as second proximal drive shaft 214 is rotated, the articulation bearing assembly 252 is axially translated along threaded distal end portion 214 a of second proximal drive shaft 214, which in turn, causes articulation bar 258 to be axially translated relative to outer tube 206. As articulation bar 258 is translated axially, articulation bar 258, being coupled to articulation link 560 of end effector 500, causes concomitant axial translation of articulation link 560 of end effector 500 to effectuate an articulation of tool assembly 600. Articulation bar 258 is secured to inner race 257 of articulation bearing 253 and is thus free to rotate about the longitudinal axis relative to outer race 259 of articulation bearing 253.

As illustrated in FIG. 6, adapter 200 includes a third drive converting assembly 260 that is supported in inner housing assembly 204. Third drive converting assembly 260 includes rotation ring gear 266 that is fixedly supported in and connected to outer knob housing 202. Ring gear 266 defines an internal array of gear teeth 266 a and includes a pair of diametrically opposed, radially extending protrusions 266 b. Protrusions 266 b are configured to be disposed within recesses defined in outer knob housing 202, such that rotation of ring gear 266 results in rotation of outer knob housing 202, and vice a versa. Third drive converting assembly 260 further includes third rotatable proximal drive shaft 216 which, as described above, is rotatably supported within inner housing assembly 204. Third rotatable proximal drive shaft 216 includes a non-circular or shaped proximal end portion that is configured for connection with third connector 220. Third rotatable proximal drive shaft 216 includes a spur gear 216 keyed to a distal end thereof. A reversing spur gear 264 inter-engages spur gear 216 a of third rotatable proximal drive shaft 216 to gear teeth 266 a of ring gear 266. In operation, as third rotatable proximal drive shaft 216 is rotated, due to a rotation of the third coupling shaft 64 b of surgical instrument 100, spur gear 216 a of third rotatable proximal drive shaft 216 engages reversing gear 264 causing reversing gear 264 to rotate. As reversing gear 264 rotates, ring gear 266 also rotates thereby causing outer knob housing 202 to rotate. Rotation of the outer knob housing 202 causes the outer tube 206 to rotate about longitudinal axis of adapter 200. As outer tube 206 is rotated, end effector 500 that is connected to a distal end portion of adapter 200, is also rotated about a longitudinal axis of adapter 200.

Adapter 200 further includes an attachment/detachment button 272 (FIG. 5) that is supported on a stem 273 (FIG. 6) that projects from drive coupling assembly 210 of adapter 200. The attachment/detachment button 272 is biased by a biasing member (not shown) that is disposed within or around stem 273, to an un-actuated condition. Button 272 includes a lip or ledge that is configured to snap behind a corresponding lip or ledge of connecting portion 20 of the surgical instrument 100. As also discussed in WO 2016/057225 A1, the adapter 200 may further include a lock mechanism 280 for fixing the axial position of distal drive member 248. As can be seen in FIG. 21, for example, lock mechanism 280 includes a button 282 that is slidably supported on outer knob housing 202. Lock button 282 is connected to an actuation bar (not shown) that extends longitudinally through outer tube 206. Actuation bar moves upon a movement of lock button 282. In operation, in order to lock the position and/or orientation of distal drive member 248, a user moves lock button 282 from a distal position to a proximal position, thereby causing the lock out (not shown) to move proximally such that a distal face of the lock out moves out of contact with camming member 288, which causes camming member 288 to cam into recess 249 of distal drive member 248. In this manner, distal drive member 248 is prevented from distal and/or proximal movement. When lock button 282 is moved from the proximal position to the distal position, the distal end of actuation bar moves distally into the lock out (not shown), against the bias of a biasing member (not shown), to force camming member 288 out of recess 249, thereby allowing unimpeded axial translation and radial movement of distal drive member 248.

Returning again to FIG. 6, adapter 200 includes an electrical assembly 290 supported on and in outer knob housing 202 and inner housing assembly 204. Electrical assembly 290 includes a plurality of electrical contact blades 292, supported on a circuit board 294, for electrical connection to pass-through connector of plate assembly of shell housing 10 of surgical instrument 100. Electrical assembly 290 serves to allow for calibration and communication information (i.e., life-cycle information, system information, force information) to pass to the circuit board of surgical instrument 100 via an electrical receptacle portion of the power-pack core assembly 106 of surgical instrument 100. Electrical assembly 290 further includes a strain gauge 296 that is electrically connected to circuit board 294. Strain gauge 296 is mounted within the inner housing assembly 204 to restrict rotation of the strain gauge 296 relative thereto. First rotatable proximal drive shaft 212 extends through strain gauge 296 to enable the strain gauge 296 to provide a closed-loop feedback to a firing/clamping load exhibited by first rotatable proximal drive shaft 212. Electrical assembly 290 also includes a slip ring 298 that is non-rotatably and slidably disposed along drive coupling nut 244 of outer tube 206. Slip ring 298 is in electrical connection with circuit board 294 and serves to permit rotation of first rotatable proximal drive shaft 212 and axial translation of drive coupling nut 244 while still maintaining electrical contact of slip ring 298 with at least another electrical component within adapter 200, and while permitting the other electrical components to rotate about first rotatable proximal drive shaft 212 and drive coupling nut 244.

Still referring to FIG. 6, inner housing assembly 204 includes a hub 205 that has a distally oriented annular wall 207 that defines a substantially circular outer profile. Hub 205 includes a substantially tear-drop shaped inner recess or bore that is shaped and dimensioned to slidably receive articulation bearing assembly 252 therewithin. Inner housing assembly 204 further includes a ring plate 254 that is secured to a distal face of distally oriented annular wall 207 of hub 204 a. Ring plate 254 defines an aperture 254 a therethrough that is sized and formed therein so as to be aligned with second proximal drive shaft 214 and to rotatably receive a distal tip thereof. In this manner, the distal tip of the second proximal drive shaft 214 is supported and prevented from moving radially away from a longitudinal rotational axis of second proximal drive shaft 214 as second proximal drive shaft 214 is rotated to axially translate articulation bearing assembly 252.

Turning next to FIG. 10, in one example, the end effector 500 may be configured for a single use (“disposable loading unit—DLU”) and be similar to those DLU's disclosed in U.S. Patent Application Publication No. 2010/0301097, entitled LOADING UNIT HAVING DRIVE ASSEMBLY LOCKING MECHANISM, now U.S. Pat. No. 9,795,384, U.S. Patent Application Publication No. 2012/0217284, entitled LOCKING MECHANISM FOR USE WITH LOADING UNITS, now U.S. Pat. No. 8,292,158, and U.S. Patent Application Publication No. 2015/0374371, entitled ADAPTER ASSEMBLIES FOR INTERCONNECTING SURGICAL LOADING UNITS AND HANDLE ASSEMBLIES, the entire disclosures of each such references being hereby incorporated by reference herein. It is also contemplated that the end effector 500 may be configured for multiple uses (MULU) such as those end effectors disclosed in U.S. Patent Application Publication No. 2017/0095250, entitled MULTI-USE LOADING UNIT, the entire disclosure of which is hereby incorporated by reference herein.

The depicted surgical instrument 100 fires staples, but it may be adapted to fire any other suitable fastener such as clips and two-part fasteners. In the illustrated arrangement, the end effector 500 comprises a loading unit 510. The loading unit 510 comprises a proximal body portion 520 and a tool assembly 600. Tool assembly 600 includes a pair of jaw members including a first jaw member 610 that comprises an anvil assembly 612 and a second jaw member 700 that comprises a cartridge assembly 701. One jaw member is pivotal in relation to the other to enable the clamping of tissue between the jaw members. The cartridge assembly 701 is movable in relation to anvil assembly 612 and is movable between an open or unclamped position and a closed or approximated position. However, the anvil assembly 612, or both the cartridge assembly 701 and the anvil assembly 612, can be movable.

The cartridge assembly 701 has a cartridge body 702 and in some instances a support plate 710 that are attached to a channel 720 by a snap-fit connection, a detent, latch, or by another type of connection. The cartridge assembly 701 includes fasteners or staples 704 that are movably supported in a plurality of laterally spaced staple retention slots 706, which are configured as openings in a tissue contacting surface 708. Each slot 706 is configured to receive a fastener or staple therein. Cartridge body 702 also defines a plurality of cam wedge slots which accommodate staple pushers 709 and which are open on the bottom (i.e., away from tissue-contacting surface) to allow an actuation sled 712 to pass longitudinally therethrough. The cartridge assembly 701 is removable from channel 720 after the staples have been fired from cartridge body 702. Another removable cartridge assembly is capable of being loaded onto channel 720, such that surgical instrument 100 can be actuated again to fire additional fasteners or staples. Further details concerning the cartridge assembly may be found, for example, in U.S. Patent Application Publication No. 2017/0095250 as well as various other references that have been incorporated by reference herein.

Cartridge assembly 701 is pivotal in relation to anvil assembly 612 and is movable between an open or unclamped position and a closed or clamped position for insertion through a cannula of a trocar. Proximal body portion 520 includes at least a drive assembly 540 and an articulation link 560. In one arrangement, drive assembly 540 includes a flexible drive beam 542 that has a distal end 544 and a proximal engagement section 546. A proximal end of the engagement section 546 includes diametrically opposed inwardly extending fingers 547 that engage a hollow drive member 548 to fixedly secure drive member 548 to the proximal end of beam 542. Drive member 548 defines a proximal porthole which receives connection member 247 of drive tube 246 of first drive converting assembly 240 of adapter 200 when the end effector 500 is attached to the distal end of the adapter 200.

End effector 500 further includes a housing assembly 530 that comprises an outer housing 532 and an inner housing 534 that is disposed within outer housing 532. First and second lugs 536 are each disposed on an outer surface of a proximal end 533 of outer housing 532 and are configured to operably engage the distal end of the adapter 200 as discussed in further detail in WO 2016/057225 A1.

With reference to FIG. 10, for example, anvil assembly 612 includes an anvil cover 630 and an anvil plate 620, which includes a plurality of staple forming depressions. Anvil plate 620 is secured to an underside of anvil cover 630. When tool assembly 600 is in the approximated position, staple forming depressions are positioned in juxtaposed alignment with staple receiving slots of the cartridge assembly 701.

The tool assembly 600 includes a mounting assembly 800 that comprises an upper mounting portion 810 and a lower mounting portion 812. A mounting tail 632 protrudes proximally from a proximal end 631 of the anvil cover 630. A centrally-located pivot member 814 extends from each upper and lower mounting portions 810 and 812 through openings 822 that are formed in coupling members 820. In at least one arrangement, the pivot member 814 of the upper mounting portion 810 also extends through an opening 634 in the mounting tail 632 as well. Coupling members 820 each include an interlocking proximal portion 824 that is configured to be received in corresponding grooves formed in distal ends of the outer housing 532 and inner housing 534. Proximal body portion 520 of end effector 500 includes articulation link 560 that has a hooked proximal end 562. The articulation link 560 is dimensioned to be slidably positioned within a slot in the inner housing. A pair of H-block assemblies 830 are positioned adjacent the distal end of the outer housing 532 and adjacent the distal end 544 of axial drive assembly 540 to prevent outward buckling and bulging of the flexible drive beam 542 during articulation and firing of surgical stapling apparatus 10. Each H-block assembly 830 includes a flexible body 832 which includes a proximal end fixedly secured to the distal end of the outer housing 532 and a distal end that is fixedly secured to mounting assembly 800. In one arrangement, a distal end 564 of the articulation link is pivotally pinned to the right H block assembly 830. Axial movement of the articulation link 560 will cause the tool assembly to articulate relative to the body portion 520.

FIGS. 11-15 illustrate an adapter 200′ that is substantially identical to adapter 200 described above, except for the differences noted below. As can be seen in FIG. 11, the adapter 200′ includes an outer tube 206 that has a proximal end portion 910 that has a first diameter “FD” and is mounted within the outer knob housing 202. The proximal end portion 910 may be coupled to the inner housing assembly 204 or otherwise supported therein in the manners discussed in further detail in WO 2016/057225 A1 for example. The proximal end portion 910 extends proximally from a central tube portion 912 that has a second diameter “SD”. In the illustrated embodiment, an end effector 500 is coupled to a distal end 914 of a shaft assembly 203 or outer tube 206. The outer tube 206 defines a longitudinal axis LA that extends between the proximal end portion 910 and the distal end 914 as can be seen in FIG. 11. As can be seen in FIGS. 10 and 11, an outer sleeve 570 of the proximal body portion 520 of the end effector 500 has a distal end portion 572 and a proximal end portion 574. The proximal end portion 574 has a diameter SD′ that is approximately equal to the second diameter SD of the central tube portion 912. The distal end portion 572 has a third diameter “TD”. In one arrangement, FD and TD are approximately equal and greater than SD. Other arrangements are contemplated wherein FD and TD are not equal, but each are greater than SD. However, it is preferable that for most cases FD and TD are dimensioned for endoscopic insertion through a typical trocar port, cannula or the like. In at least one arrangement (FIG. 11), the outer sleeve 570 is formed with a flat or scalloped side 576 to facilitate improved access within the patient while effectively accommodating the various drive and articulation components of the adapter 200′. In addition, by providing the central tube portion 912 with a reduced diameter may afford the adapter 200′ with improved thoracic in-between rib access.

In at least one arrangement, channel 720, which may be machined or made of sheet metal, includes a pair of proximal holes 722 (FIG. 10) that are configured to align with a pair of corresponding holes 636 in the anvil cover 630 to receive corresponding pins or bosses 638 (FIG. 12) to facilitate a pivotal relationship between anvil assembly 612 and cartridge assembly 701. In the illustrated example, a dynamic clamping assembly 550 is attached to or formed at the distal end 544 of the flexible drive beam 542. The dynamic clamping assembly 550 includes a vertical body portion 552 that has a tissue cutting surface 554 formed thereon or attached thereto. See FIG. 10, for example. An anvil engagement feature 556 is formed on one end of the body portion 552 and comprises an anvil engagement tab 557 that protrudes from each lateral side of the body portion 552. Similarly, a channel engagement feature 558 is formed on the other end of the of the body portion 552 and comprises a channel engagement tab 559 that protrudes from each lateral side of the body portion 552. See FIG. 15.

As indicated above, the anvil assembly 612 includes an anvil plate 620. The anvil plate 620 includes an elongate slot 622 that is configured to accommodate the body portion 552 of the dynamic clamping assembly 550 as the dynamic clamping assembly 550 is axially advanced during the firing process. The elongate slot 622 is defined between two anvil plate ledges 624 that extend along each lateral side of the elongate slot 622. See FIG. 10. As the dynamic clamping assembly 550 is distally advanced, the anvil engagement tabs 557 slidably engage the anvil plate ledges 624 to retain the anvil assembly 612 clamped onto the target tissue. Similarly, during the firing operation, the body portion 552 of the dynamic clamping assembly 550 extends through a central slot in the channel 720 and the channel engagement tabs 559 slidably engage channel ledges 725 extending along each side of the central channel slot to retain the cartridge assembly 701 clamped onto the target tissue.

Turning to FIGS. 13 and 15, the channel 720 defines a docking area generally designated as 730 that is configured to accommodate the dynamic clamping assembly 550 when it is in its proximal most position referred to herein as an unfired or starting position. In particular, the docking area 730 is partially defined by planar docking surfaces 732 that provides clearance between the channel engagement tabs 559 on the dynamic clamping assembly 550 to enable the cartridge assembly 701 to pivot to a fully opened position. A ramped or camming surface 726 extends from a distal end of each of the docking surfaces 732. Ramped surface 726 is engaged by the dynamic clamping assembly 550 in order to move the anvil assembly 612 and the cartridge assembly 701 with respect to one another. Similar camming surface could be provided on the anvil assembly 612 in other embodiments. It is envisioned that ramped surfaces 726 may also facilitate the alignment and/or engagement between channel 720 and support plate 620 and/or cartridge body 702. As the drive assembly 540 is distally advanced (fired), the channel engagement tabs 559 on the dynamic clamping assembly 550 engage the corresponding ramped surfaces 726 to apply a closing motion to the cartridge assembly 701 thus closing the cartridge assembly 701 and the anvil assembly 612. Further distal translation of the dynamic clamping assembly 550 causes the actuation sled 712 to move distally through cartridge body 702, which causes cam wedges 713 of actuation sled 712 to sequentially engage staple pushers 709 to move staple pushers 709 vertically within staple retention slots 706 and eject staples 704 into staple forming depressions of anvil plate 620. Subsequent to the ejection of staples 704 from retention slots 706 (and into tissue), the cutting edge 554 of the dynamic clamping assembly 550 severs the stapled tissue as the tissue cutting edge 554 on the vertical body portion 552 of the dynamic clamping assembly 550 travels distally through a central slot 703 of cartridge body 702. After staples 704 have been ejected from cartridge body 702 and a user wishes to use the same instrument 10 to fire additional staples 704 (or another type of fastener or knife), the user can remove the loading unit 510 from the adapter 200′ and replace it with another fresh or unspent loading unit. In an alternative arrangement, the user may simply remove the spent cartridge body 702 and replace it with a fresh unspent or unfired cartridge body 702.

During use of conventional adapters, debris and body fluids can migrate into the outer tube of the adapter and detrimentally hamper the operation of the adapter articulation and firing drive systems. In egregious cases, such debris and fluids infiltrate into the inner housing assembly of the adapter which may cause the electrical components supported therein to short out and malfunction. Further, due to limited access to the interior of the outer tube of the adapter, such debris and fluids are difficult to remove therefrom which can prevent or reduce the ability to reuse the adapter.

Turning to FIGS. 16 and 17, in one arrangement, at least one first seal 230 is provided between the proximal inner housing assembly 204 and the first rotatable proximal drive shaft 212 to prevent fluid/debris infiltration within and proximal to the proximal inner housing assembly 204. In addition, at least one second seal 232 is provided between the articulation bar 258 and the outer tube 206 to prevent fluid/debris from passing therebetween to enter the proximal inner housing assembly 204. At least one third housing seal 233 may be provided around a hub 205 of the proximal inner housing 204 to establish a seal between the hub 205 and the outer knob housing 202. The first, second, and third seals 230, 232, 233 may comprise, for example, flexible O-rings manufactured from rubber or other suitable material.

In other arrangements, it may be desirable for the first and second seals 230, 232 to be located in the adapter 200 distal to the electronic components housed within the outer knob housing 202. For example, to prevent fluids/debris from fouling/shorting the slip ring assembly 298, it is desirable establish seals between the various moving components of the adapter 200 that are operably supported within the outer tube 206 in a location or locations that are each distal to the slip ring assembly 298, for example. The seals 230, 232 may be supported in the wall of the outer tube and/or in mounting member 234 or other separate mounting member/bushing/housing supported within the outer tube 206 and configured to facilitate axial movement of the distal drive member 248 as well as the articulation bar 258 while establishing a fluid-tight seal between the bushing and/or outer tube and the distal drive member 248 and the articulation bar 258. See FIGS. 18 and 20. In the embodiment illustrated in FIG. 19 for example, the first seal 230 may additionally have wiper features 231 that also slidably engage the distal drive member 248 to prevent fluid/debris D from infiltrating in the proximal direction PD into the proximal inner housing assembly 204. In at least one arrangement to enable debris and fluids that have collected in the outer tube 206 distal to the first and second seals 230, 232, at least two flushing ports 236, 238 are provided within the outer tube 206. See e.g., FIGS. 18 and 20. The axially spaced flushing ports 236, 238 are located distal to the first and second seals 230, 232. A flushing solution (e.g., cleaning fluid, saline fluid, air, etc.) may be entered into one or more port(s) to force the errant debris and fluid out of one or more other port(s).

As was discussed above, the electromechanical surgical instrument 100 includes the power-pack or the handle assembly 101 and an outer shell housing 10 that is configured to selectively receive and substantially encase the handle assembly 101. A sterile barrier plate 60 is interposed between the handle assembly 101 and the outer shell housing to facilitate operable coupling of rotatable motor drive shafts of the motors through the sterile barrier to the corresponding drive shafts of an adapter coupled thereto. Rotation of the motor drive shafts then function to drive shafts and/or gear components of adapter 200 in order to perform the various operations of the surgical instrument 100. During operation, it may be desirable to control the motors to adjust the rate of shaft rotation and/or the direction of shaft rotation based upon the location of the various components of the adapter 200 that is coupled thereto. For example, it may be desirable to control the rate of rotation (and direction) of motor 152 and rotatable drive shaft 152 a depending upon the position of the dynamic clamping assembly 550 within the end effector. For example, when the dynamic clamping assembly 550 is nearing the end of its firing stroke, it may be useful to slow its distal advancement down so as to avoid slamming the dynamic clamping assembly and/or related components into the cartridge body at the end of the firing stroke. Further, there may be times during the firing stroke when it may be useful to slow down the dynamic clamping assembly 550 advancement or to speed it up. Similar conditions may also occur which relate to the operation of motors 154 and 156.

FIG. 22 illustrates a portion of a power pack core assembly 9106 and motor control system 9180 that may be employed to control the operation of motors 152, 154, 156 and which is entirely located within the sterile barrier or outer shell housing 10. Power pack core assembly 9106 is substantially identical to power pack core assembly 106 described above, except for the differences discussed below. As can be seen in FIG. 22, each motor 152, 154, 156 is supported on a motor bracket 9148 that is similar to motor bracket 148 described above. The motor bracket 9148 rotatably supports three rotatable drive connector sleeves 152 b, 154 b, 156 b that are keyed to respective motor shafts 152 a, 154 a, 156 a of motors 152, 154, 156. Drive connector sleeves 152 b, 154 b, 156 b non-rotatably receive proximal ends of respective rotatable coupling shaft assemblies 9152 a, 9154 a, 9156 a of a plate assembly 9160.

Plate assembly 9160 is identical to plate assembly 60 except for the differences discussed below. For example, rotatable coupling shaft assembly 9152 a comprises a coupler bushing 9152 b that is rotatably supported in a plate 9162 of plate assembly 9160. A coupler shaft 9152 c is non-rotatably coupled to said coupler bushing 9152 b. A proximal end of coupler shaft 9152 c extends proximally from the plate 9162 to be drivingly engaged with the drive connector sleeve 152 b. A distal end of coupler shaft 9152 c is configured to extend through a corresponding aperture 22 b (FIG. 3) in connecting portion 20 of distal half-section 10 a when sterile barrier plate assembly 9160 is disposed within shell cavity 10 c of shell housing 10. Rotatable coupling shaft assembly 9154 a comprises a coupler bushing 9154 b that is rotatably supported in plate 9162. A coupler shaft 9154 c is non-rotatably coupled to said coupler bushing 9154 b. A proximal end of coupler shaft 9154 c extends proximally from the plate 9162 to be drivingly engaged with the drive connector sleeve 154 b. A distal end of coupler shaft 9154 c is configured to extend through a corresponding aperture 22 c (see FIG. 5) in connecting portion 20 of distal half-section 10 a when sterile barrier plate assembly 9160 is disposed within shell cavity 10 c of shell housing 10. Rotatable coupling shaft assembly 9156 a comprises a coupler bushing 9156 b that is rotatably supported in plate 9162. A coupler shaft 9156 c is non-rotatably coupled to said coupler bushing 9156 b. A proximal end of coupler shaft 9156 c extends proximally from the plate 9162 to be drivingly engaged with the drive connector sleeve 156 b. A distal end of coupler shaft 9156 c is configured to extend through a corresponding aperture 22 a (FIG. 3) in connecting portion 20 of distal half-section 10 a when sterile barrier plate assembly 9160 is disposed within shell cavity 10 c of shell housing 10.

Still referring to FIG. 22, Drive connector sleeves 152 b, 154 b, 156 b are each spring biased away from respective motors 152, 154, 156 by corresponding springs 9158 and washers 9159. Drive connector sleeve 152 b serves to drivingly couple rotatable motor drive shaft 152 a to the coupler shaft 9152 c. Drive connector sleeve 154 b serves to drivingly couple rotatable motor drive shaft 154 a to the coupler shaft 9154 c. Drive connector sleeve 156 b serves to drivingly couple rotatable motor drive shaft 156 a to the coupler shaft 9156 c.

The motor control system 9180 includes a controller circuit board 142 a and battery 144 (FIG. 4) that are coupled to each motor 152, 154, 156. Each motor 152, 154, 156 is controlled by a respective motor controller. The motor controllers are disposed on motor controller circuit board 142 a. In on example, the motor controllers comprise A3930/31K motor drivers from Allegro Microsystems, Inc. The A3930/31K motor drivers are designed to control a 3-phase brushless DC (BLDC) motor with N-channel external power MOSFETs, such as the motors 152, 154, 156. Each of the motor controllers is coupled to a main controller disposed on the main controller circuit board 142 b. The main controller is also coupled to memory, which is also disposed on the main controller circuit board 142 b. In one example, the main controller comprises an ARM Cortex M4 processor from Freescale Semiconductor, Inc. which includes 1024 kilobytes of internal flash memory. The main controller communicates with the motor controllers through an FPGA, which provides control logic signals. The control logic of the motor controllers then outputs corresponding energization signals to their respective motors 152, 154, 156 using fixed frequency pulse width modulation (PWM).

In the illustrated arrangement, the motor control system 9180 further comprises stationary sensors 9182, 9184, 9186 that are wired to or otherwise communicate with the main controller circuit board 142 b and/or the motor controllers. For example, stationary sensor 9182 is associated with motor 152 and is wired to or otherwise communicates with the main controller circuit board 142 b and/or the motor controller for motor 152. Stationary sensor 9184 is associated with motor 154 and is wired to or otherwise communicates with the main controller circuit board 142 b and/or the motor controller for motor 154. Stationary sensor 9186 is associated with motor 156 and is wired to or otherwise communicates with the main controller circuit board 142 b and/or the motor controller for motor 156. In one example, sensors 9182, 9184, 9186 comprise Hall effect sensors that are arranged to detect sensor actuators associated with coupler shafts 9152 c, 9154 c, 9156 c. For example, the coupler bushing 9152 b may be magnetized or support a magnet 9152 d therein. Coupler bushing 9154 b may be magnetized or support a magnet 9154 d therein. Coupler bushing 9156 b may be magnetized or support a magnet 9156 d therein.

Actuation of motor 152 will result in the rotation of the drive coupler shaft 9152 c and the accompanying magnet 9152 d. Sensor 9182 is configured to detect the rotary travel of magnet 9152 d and convey signals indicative of such position to the motor controller or processor controlling motor 152. These signals may be used by the controller/processor to maintain, increase or reduce the rate of rotation of the rotatable motor drive shaft 152 a depending upon the signals. The processor may also change the direction of rotation of the rotatable drive shaft 152 a. Actuation of motor 154 will result in the rotation of the drive coupler shaft 9154 c and the accompanying magnet 9154 d. Sensor 9184 is configured to detect the rotary travel of magnet 9154 d and convey signals indicative of such position to the motor controller or processor controlling motor 154. These signals may be used by the controller/processor to maintain, increase or reduce the rate of rotation of the rotatable motor drive shaft 154 a depending upon the signals. The processor may also change the direction of rotation of the rotatable drive shaft 154 a. Actuation of motor 156 will result in the rotation of the drive coupler shaft 9156 c and the accompanying magnet 9156 d. Sensor 9186 is configured to detect the rotary travel of magnet 9156 d and convey signals indicative of such position to the motor controller or processor controlling motor 156. These signals may be used by the controller/processor to maintain, increase or reduce the rate of rotation of the rotatable motor drive shaft 156 a depending upon the signals. The processor may also change the direction of rotation of the rotatable drive shaft 156 a.

FIGS. 23-25 illustrate an alternative motor control system 9200 for controlling the operation of motors 152, 154, 156. In this example, at least one switch 9210 is associated with each of the rotatable motor drive shafts 152 a, 154 a, 156 a and is mounted in the motor bracket 9248 which supports the motors 152, 154, 156. In the illustrated example, four switches 9210 are circumferentially spaced around each of the rotatable drive shafts 152 a, 154 a, 156 a. FIG. 25 illustrates such switch arrangement for rotatable motor drive shaft 152 a. Each switch 9210 is wired to or otherwise communicates with the main controller circuit board 142 b and/or the motor controller for the corresponding motor 152, 154, 156. In one arrangement, each drive connector sleeve has at least one switch actuator thereon. FIGS. 23-25 illustrate drive connector sleeve 9220 which has four circumferentially spaced switch actuator nubs 9222 formed thereon for operable interaction with the corresponding switches 9210. The drive connector sleeves 9220 serve to operably couple the rotatable motor drive shafts 152 a, 154 a, 156 a to their corresponding coupler shafts 9152 c, 9154 c, 9156 c. As the rotatable motor drive shafts 152 a, 154 a, 156 a rotate, the drive connector sleeve 9220 that is non-rotatably connected thereto also rotates causing the corresponding switch actuators 9222 to rotate into and out of actuatable contact with the corresponding switches 9210 to convey signals indicative of the rotary position of the corresponding drive shaft 152 a, 154 a, 156 a to the motor controller or processor controlling that particular motor. These signals may be used by the controller/processor to maintain, increase or reduce the rate of rotation of the rotatable motor drive shaft depending upon the signals. The processor may also change the direction of rotation of the rotatable drive shaft.

EXAMPLES Example 1

A handheld electromechanical surgical device configured to be operably coupled to a surgical accessory. In at least one example, the electromechanical surgical device, comprises a handle assembly that includes a plurality of electrically powered motors that are supported within the handle assembly. Each of the electrically powered motor includes a rotatable motor drive shaft. A processor is coupled to and configured to control each electrically powered motor. The electromechanical surgical device further comprises an outer shell housing that is configured to selectively encase the handle assembly therein. A barrier plate assembly is interposed between the handle assembly and the outer shell housing. The barrier plate assembly comprises a rotatable coupling shaft assembly that corresponds to each rotatable motor drive shaft for driving engagement therewith. Each rotatable coupling shaft assembly protrudes through the outer shell housing for selective driving engagement with a corresponding accessory drive shaft of the surgical accessory that is operably coupled to the handle assembly. The surgical device further comprises means supported within the handle assembly and cooperating with the rotatable coupling shaft assemblies in the barrier plate assemblies for monitoring rotation of each rotatable motor drive shaft and communicating with the processor to apply control signals to each electrically powered motor.

Example 2

The handheld electromechanical surgical device of Example 1, wherein the electrically powered motors are each supported by a motor bracket supported in the handle assembly such that the rotatable motor drive shaft of each electrically powered motor protrudes from the motor bracket for driving engagement with the corresponding rotatable coupling shaft assembly.

Example 3

The handheld electromechanical surgical device of Example 2, wherein the means for monitoring rotation of each rotatable motor drive shaft comprises a sensor on the motor bracket that corresponds to each rotatable motor drive shaft and communicates with the processor. A sensor actuator corresponds to each rotatable coupling shaft assembly and is configured to be sensed by the sensor that corresponds to the rotatable motor drive shaft to which the rotatable coupling shaft assembly is attached.

Example 4

The handheld electromechanical surgical device of Example 3, wherein each sensor comprises a Hall effect sensor that communicates with the processor and wherein each sensor actuator comprises a magnet that corresponds to each rotatable coupling shaft assembly.

Example 5

The handheld electromechanical surgical device of Examples 1, 2, 3 or 4, wherein the each rotatable coupling shaft assembly comprises a coupler bushing that is rotatably supported in the barrier plate assembly and a coupler shaft that is associated with the coupler bushing for rotational travel therewith. The coupler shaft extends through the barrier plate assembly such that a distal end of the coupler shaft is configured to extend through the outer shell for selective driving engagement with a corresponding accessory drive shaft of the surgical accessory that is operably coupled to the handle assembly. A proximal end of the coupler shaft is configured to be coupled to the corresponding rotatable motor drive shaft by a coupler sleeve.

Example 6

The handheld electromechanical surgical device of Example 5, wherein each magnet is supported by a corresponding coupler bushing.

Example 7

The handheld electromechanical surgical device of Example 5, wherein each magnet is supported by a corresponding coupler sleeve.

Example 8

The handheld electromechanical surgical device of Examples 2, 3, 4, 5, 6 or 7, wherein the means for monitoring rotation of each rotatable motor drive shaft comprises at least one switch on the motor bracket corresponding to each rotatable motor drive shaft and communicating with the processor. A coupler sleeve corresponds to each rotatable motor drive shaft and corresponding rotatable coupling shaft assembly and being configured for attachment thereto to drivingly engage the rotatable motor drive shaft and the corresponding rotatable coupling shaft assembly together to rotate as a unit. Each coupler sleeve comprises at least one actuator that is configured to actuate at least one switch that corresponds to the rotatable motor drive shaft to which the shaft coupler is attached as said rotatable motor drive shaft rotates.

Example 9

The handheld electromechanical surgical device of Example 8, wherein the at least one switch comprises a plurality of switches wherein each switch corresponds to one rotatable motor drive shaft. The switches are arranged in a circumferential spaced arrangement therearound on the motor bracket and communicate with the processor. The at least one actuator comprises a plurality of circumferentially spaced actuators on each coupler sleeve and are configured to actuate the plurality of switches that correspond to the rotatable motor drive shaft to which the coupler sleeve is attached.

Example 10

The handheld electromechanical surgical device of Example 9, wherein each one of the plurality of circumferentially spaced actuators on each coupler sleeve is configured to mechanically actuate the plurality of switches that correspond to the rotatable motor drive shaft to which the coupler sleeve is attached.

Example 11

The handheld electromechanical surgical device of Example 8, wherein each rotatable coupling shaft assembly comprises a coupler shaft that is rotatably supported in the barrier plate assembly and corresponds to each rotatable motor drive shaft and wherein the coupler sleeve is configured to non-rotatably engage the corresponding coupler shaft and the rotatable motor drive shaft.

Example 12

A handheld electromechanical surgical device that is configured to be operably coupled to a surgical accessory. In at least one example, the electromechanical surgical device comprises a handle housing that has a plurality of electrically powered motors supported therein. Each electrically powered motor includes a rotatable motor drive shaft. The surgical device further comprises an outer shell housing that is configured to selectively encase the handle housing. A barrier plate assembly is interposed between the handle housing and the outer shell housing. The barrier plate assembly comprises a rotatable coupling shaft that corresponds to each rotatable motor drive shaft for driving engagement therewith. Each rotatable coupling shaft protrudes through the outer shell housing for selective driving engagement with a corresponding accessory drive shaft of the surgical accessory operably coupled to the surgical device. The device further comprises a motor control system that includes a processor that is configured to control each electrically powered motor. A motor controller arrangement is supported in the handle housing and corresponds to each rotatable motor drive shaft. Each motor controller arrangement is configured to transmit signals to the processor that relate to a rotary position of the corresponding rotatable motor drive shaft.

Example 13

The handheld electromechanical surgical device of Example 12, wherein the motor controller arrangement comprises a stationary sensor that is supported within the handle housing and corresponds to each rotatable motor drive shaft and communicates with the processor. A sensor actuator corresponds to each rotatable coupling shaft and is configured to be sensed by the stationary sensor that corresponds to the rotatable motor drive shaft to which the rotatable coupling shaft is attached.

Example 14

The handheld electromechanical surgical device of Example 13, wherein each sensor comprises a Hall effect sensor that communicates with the processor and wherein each sensor actuator comprises a magnet that corresponds to each rotatable coupling shaft.

Example 15

The handheld electromechanical surgical device of Example 14, wherein each rotatable coupling shaft comprises a coupler bushing that is rotatably supported in the barrier plate assembly and a coupler shaft that is associated with the coupler bushing for rotational travel therewith. The coupler shaft extends through the barrier plate assembly such that a distal end of the coupler shaft is configured to extend through the outer shell housing for selective driving engagement with a corresponding accessory drive shaft of the surgical accessory that is operably coupled to the handle housing and a proximal end thereof is configured to be coupled to the corresponding rotatable motor drive shaft by a coupler sleeve.

Example 16

The handheld electromechanical surgical device of Example 15, wherein each magnet is supported by a corresponding coupler bushing.

Example 17

The handheld electromechanical surgical device of Example 15, wherein each magnet is supported by a corresponding coupler sleeve.

Example 18

The handheld electromechanical surgical device of Example 12, wherein the motor controller arrangement comprises at least one stationary switch that corresponds to each rotatable motor drive shaft and communicates with the processor. A coupler sleeve corresponds to each rotatable motor drive shaft and corresponding rotatable coupling shaft and is configured for attachment thereto to drivingly engage the rotatable motor drive shaft and the corresponding rotatable coupling shaft together to rotate as a unit and wherein each coupler sleeve comprises at least one actuator that is configured to actuate at least one stationary switch that corresponds to the rotatable motor drive shaft to which the shaft coupler is attached as the corresponding rotatable motor drive shaft rotates.

Example 19

The handheld electromechanical surgical device of Example 18, wherein at least one stationary switch comprises a plurality of stationary switches that correspond to each rotatable motor drive shaft and are arranged in a circumferential spaced arrangement therearound on the motor bracket and communicate with the processor and wherein at least one actuator comprises a plurality of circumferentially spaced actuators on each coupler sleeve that are configured to actuate the plurality of stationary switches that correspond to the rotatable motor drive shaft to which the coupler sleeve is attached.

Example 20

The handheld electromechanical surgical device of Examples 12, 13, 14, 15, 16, 17, 18 or 19, wherein the processor is configured to adjust a rate of rotation and a direction of rotation of each rotatable motor drive shaft in response to signals transmitted thereto by each motor controller arrangement.

The surgical instrument systems described herein have been described in connection with the deployment and deformation of staples; however, the embodiments described herein are not so limited. Various embodiments are envisioned which deploy fasteners other than staples, such as clamps or tacks, for example. Moreover, various embodiments are envisioned which utilize any suitable means for sealing tissue. For instance, an end effector in accordance with various embodiments can comprise electrodes configured to heat and seal the tissue. Also, for instance, an end effector in accordance with certain embodiments can apply vibrational energy to seal the tissue.

Although various devices have been described herein in connection with certain embodiments, modifications and variations to those embodiments may be implemented. Particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Thus, the particular features, structures, or characteristics illustrated or described in connection with one embodiment may be combined in whole or in part, with the features, structures or characteristics of one ore more other embodiments without limitation. Also, where materials are disclosed for certain components, other materials may be used. Furthermore, according to various embodiments, a single component may be replaced by multiple components, and multiple components may be replaced by a single component, to perform a given function or functions. The foregoing description and following claims are intended to cover all such modification and variations.

The devices disclosed herein can be designed to be disposed of after a single use, or they can be designed to be used multiple times. In either case, however, a device can be reconditioned for reuse after at least one use. Reconditioning can include any combination of the steps including, but not limited to, the disassembly of the device, followed by cleaning or replacement of particular pieces of the device, and subsequent reassembly of the device. In particular, a reconditioning facility and/or surgical team can disassemble a device and, after cleaning and/or replacing particular parts of the device, the device can be reassembled for subsequent use. Those skilled in the art will appreciate that reconditioning of a device can utilize a variety of techniques for disassembly, cleaning/replacement, and reassembly. Use of such techniques, and the resulting reconditioned device, are all within the scope of the present application.

The devices disclosed herein may be processed before surgery. First, a new or used instrument may be obtained and, when necessary, cleaned. The instrument may then be sterilized. In one sterilization technique, the instrument is placed in a closed and sealed container, such as a plastic or TYVEK bag. The container and instrument may then be placed in a field of radiation that can penetrate the container, such as gamma radiation, x-rays, and/or high-energy electrons. The radiation may kill bacteria on the instrument and in the container. The sterilized instrument may then be stored in the sterile container. The sealed container may keep the instrument sterile until it is opened in a medical facility. A device may also be sterilized using any other technique known in the art, including but not limited to beta radiation, gamma radiation, ethylene oxide, plasma peroxide, and/or steam.

While this invention has been described as having exemplary designs, the present invention may be further modified within the spirit and scope of the disclosure. This application is therefore intended to cover any variations, uses, or adaptations of the invention using its general principles. 

What is claimed is:
 1. A handheld electromechanical surgical device configured to be operably coupled to a surgical accessory, wherein said handheld electromechanical surgical device comprises: a handle assembly, comprising: a plurality of electrically powered motors supported by a motor bracket within said handle assembly, wherein each said electrically powered motor comprises a rotatable motor drive shaft; and a processor coupled to and configured to control each said electrically powered motor, and wherein said handheld electromechanical surgical device further comprises: an outer shell housing configured to selectively encase said handle assembly therein; a barrier plate assembly interposed between said handle assembly and said outer shell housing, wherein said barrier plate assembly comprises a rotatable coupling shaft assembly corresponding to each said rotatable motor drive shaft for driving engagement therewith, wherein each said rotatable coupling shaft assembly protrudes through said outer shell housing for selective driving engagement with a corresponding accessory drive shaft of the surgical accessory operably coupled to said handle assembly; at least one switch on said motor bracket corresponding to each said rotatable motor drive shaft and communicating with said processor; and a coupler sleeve corresponding to each said rotatable motor drive shaft and said corresponding rotatable coupling shaft assembly, wherein each said coupler sleeve is configured for attachment thereto to drivingly couple said rotatable motor drive shaft and said corresponding rotatable coupling shaft assembly together to rotate as a unit, and wherein each said coupler sleeve comprises at least one actuator configured to actuate said at least one switch corresponding to said rotatable motor drive shaft to which said coupler sleeve is attached as said rotatable motor drive shaft rotates.
 2. The handheld electromechanical surgical device of claim 1, wherein said at least one switch comprises a plurality of switches corresponding to each said rotatable motor drive shaft and arranged in a circumferential spaced arrangement therearound on said motor bracket and communicating with said processor, and wherein said at least one actuator comprises a plurality of circumferentially spaced actuators on each said coupler sleeve and configured to actuate said plurality of switches corresponding to said rotatable motor drive shaft to which said coupler sleeve is attached.
 3. The handheld electromechanical surgical device of claim 2, wherein each said plurality of circumferentially spaced actuators on each said coupler sleeve are configured to mechanically actuate said plurality of switches corresponding to said rotatable motor drive shaft to which said coupler sleeve is attached.
 4. The handheld electromechanical surgical device of claim 1, wherein each said rotatable coupling shaft assembly comprises a coupler shaft rotatably supported in said barrier plate assembly and corresponding to each said rotatable motor drive shaft, and wherein each said coupler sleeve is configured to non-rotatably engage said corresponding coupler shaft and said rotatable motor drive shaft.
 5. A handheld electromechanical surgical device configured to be operably coupled to a surgical accessory, wherein said handheld electromechanical surgical device, comprises: a handle housing; a plurality of electrically powered motors supported within said handle housing, wherein each said electrically powered motor comprises a rotatable motor drive shaft; an outer shell housing configured to selectively encase said handle housing; a barrier plate assembly interposed between said handle housing and said outer shell housing, wherein said barrier plate assembly comprises a rotatable coupling shaft corresponding to each said rotatable motor drive shaft for driving engagement therewith, wherein each said rotatable coupling shaft protrudes through said outer shell housing for selective driving engagement with a corresponding accessory drive shaft of the surgical accessory operably coupled to said handheld electromechanical surgical device; and a motor control system, comprising: a processor configured to control each said electrically powered motor; and a motor controller arrangement supported in said handle housing and corresponding to each said rotatable motor drive shaft, wherein each said motor controller arrangement is configured to transmit signals to said processor relating to a rotary position of said corresponding rotatable motor drive shaft, and wherein said motor controller arrangement comprises: at least one stationary switch corresponding to each said rotatable motor drive shaft and communicating with said processor; and a coupler sleeve corresponding to each said rotatable motor drive shaft and said corresponding rotatable coupling shaft, wherein each said coupler sleeve is configured to drivingly couple said rotatable motor drive shaft and said corresponding rotatable coupling shaft together to rotate as a unit, and wherein each said coupler sleeve comprises at least one actuator configured to actuate said at least one stationary switch corresponding to said rotatable motor drive shaft to which said coupler sleeve is attached as said corresponding rotatable motor drive shaft rotates.
 6. The handheld electromechanical surgical device of claim 5, wherein said at least one stationary switch comprises a plurality of stationary switches corresponding to each said rotatable motor drive shaft and arranged in a circumferential spaced arrangement therearound on a motor bracket and communicating with said processor and wherein said at least one actuator comprises a plurality of circumferentially spaced actuators on each said coupler sleeve and configured to actuate said plurality of stationary switches corresponding to said rotatable motor drive shaft to which said coupler sleeve is attached.
 7. The handheld electromechanical surgical device of claim 5, wherein said processor is configured to adjust a rate of rotation and a direction of rotation of each said rotatable motor drive shaft of said electrically powered motors in response to said signals transmitted thereto by each said motor controller arrangement.
 8. A handheld electromechanical surgical device configured to be operably coupled to a surgical accessory, wherein said handheld electromechanical surgical device, comprises: a handle assembly, comprising: a plurality of electrically powered motors supported by a motor bracket supported by said handle assembly, wherein each said electrically powered motor comprises a rotatable motor drive shaft; a processor coupled to and configured to control each said electrically powered motor; and a plurality of sensors on said motor bracket, wherein each said sensor corresponds to one of said rotatable motor drive shafts and communicates with said processor, and wherein said handheld electromechanical surgical device further comprises: an outer shell housing configured to selectively encase said handle assembly therein; a barrier plate assembly interposed between said handle assembly and said outer shell housing to form a sterile barrier therebetween, wherein said barrier plate assembly comprises; a plurality of coupler bushings rotatably supported in said barrier plate assembly, wherein each said coupler bushing corresponds to one of said rotatable motor drive shafts; and a coupler shaft corresponding to each said coupler bushing for rotational travel therewith, wherein each said coupler shaft comprises: a distal end configured to extend through said outer shell housing for selective driving engagement with a corresponding accessory drive shaft of the surgical accessory operably coupled to said handle assembly; and a proximal end configured to be coupled to said corresponding rotatable motor drive shaft by a coupler sleeve, and wherein said barrier plate assembly further comprises a plurality of sensor actuators, wherein each said sensor actuator corresponds to one of said coupler bushings and is supported therein, wherein each said sensor actuator is configured to be sensed by said sensor corresponding to said rotatable motor drive shaft to which said corresponding coupler shaft is attached.
 9. The handheld electromechanical surgical device of claim 8, wherein each said sensor comprises a Hall effect sensor communicating with said processor, and wherein each said sensor actuator comprises a magnet.
 10. The handheld electromechanical surgical device of claim 8, further comprising a motor controller arrangement supported in said handle assembly and corresponding to each said rotatable motor drive shaft, wherein each said motor controller arrangement is configured to transmit signals to said processor relating to a rotary position of said corresponding rotatable motor drive shaft.
 11. The handheld electromechanical surgical device of claim 10, wherein said processor is configured to adjust a rate of rotation and a direction of rotation of each said rotatable motor drive shaft of said electrically powered motors in response to said signals transmitted thereto by each said motor controller arrangement. 